CN105892691A - Method and device for controlling travel tool and travel tool system - Google Patents
Method and device for controlling travel tool and travel tool system Download PDFInfo
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- CN105892691A CN105892691A CN201610398690.XA CN201610398690A CN105892691A CN 105892691 A CN105892691 A CN 105892691A CN 201610398690 A CN201610398690 A CN 201610398690A CN 105892691 A CN105892691 A CN 105892691A
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- walking
- replacing tool
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- eye
- user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
- G06V40/193—Preprocessing; Feature extraction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/011—Emotion or mood input determined on the basis of sensed human body parameters such as pulse, heart rate or beat, temperature of skin, facial expressions, iris, voice pitch, brain activity patterns
Abstract
The invention discloses a method and device for controlling a travel tool and a travel tool system, and relates to the field of control. The travel tool can be operated without movement of body parts such as legs, arms and hands, and the problem that an existing travel tool is difficult to operate for a disabled person is solved. The device for controlling the travel tool comprises a camera, an image processing unit and a control unit, wherein the camera is used for shooting an image of eyes of a user, the image processing unit is connected with the camera and used for receiving the image, shot through the camera, of the eyes and identifying the movement of the eyes of the user, and the control unit is used for generating a corresponding movement instruction for controlling the travel tool to move according to the identified movement of the eyes.
Description
Technical field
The present invention relates to control field, particularly relate to a kind of walking-replacing tool control method and control device, ride instead of walk
Tool system.
Background technology
Existing wheelchair, user typically requires and promotes with hands or foot, or uses driven by power and by pressing
The method of button is controlled, and this is relatively difficult for the personage of limbs inconvenience, the most gradually freezes disease and suffers from
Person, both cannot use trick, also cannot sounding, existing wheelchair cannot be used at all.Therefore, it is badly in need of at present
A kind of without using the action of the body parts such as lower limb, arm or hands can carry out the wheelchair operated.
Summary of the invention
The present invention provides a kind of walking-replacing tool control method and controls device, walking-replacing tool system, it is not necessary to use
The action of the body parts such as lower limb, arm or hands can operate, and solves existing walking-replacing tool for limbs not
The problem of person who happens to be on hand for an errand scholar's operating difficulties.
For reaching above-mentioned purpose, embodiments of the invention adopt the following technical scheme that
Embodiments of the invention provide a kind of walking-replacing tool to control device, including: photographic head, make for shooting
The eyes image of user；Graphics processing unit, is connected with described photographic head, is used for receiving described photographic head and claps
The eyes image taken the photograph, and therefrom identify the eye motion of user；Control unit, for according to identifying
Described eye motion generate the corresponding action command for controlling walking-replacing tool motion.
Alternatively, also including: glasses, described photographic head is integrated on described glasses.
Preferably, described photographic head is integrated on the eyeglass of described glasses.
Alternatively, described graphics processing unit includes: coordinate determines subelement, for utilize human eye the white of the eye,
Grey value difference between iris and pupil, identifies pupil also from the eyes image that described photographic head shoots
Determine pupil coordinate；Action determines subelement, for by described pupil coordinate and the pupil in each default print
Coordinate carries out comparison one by one, it is judged that described pupil coordinate with the difference of the pupil coordinate in described default print is
No in preset range, if in preset range, it is determined that user is made that the eye in default print
Action, described default print is the eye motion image of the user shot in advance.
Alternatively, described walking-replacing tool controls device, also includes: action preparatory unit, with described image
Processing unit is connected, and for identifying the eye motion of user at described graphics processing unit, and passes through institute
After stating this control sign on that graphics processing unit receives user input, it is judged that working as of walking-replacing tool
Whether front state is in default action SBR, and when judged result is no, generation action prepares to refer to
Order, described action preparation instruction is used for indicating described walking-replacing tool to be adjusted to action SBR from current state,
When walking-replacing tool is in described action SBR, it is suitably executed the action command that described eye motion is corresponding.
Alternatively, described walking-replacing tool controls device, also includes: Tip element, at described image
After reason unit identifies the eye motion of user, it is corresponding whether prompting user performs described eye motion
Action command；Transmitting element, after performing instruction in the confirmation receiving user, refers to described action
Order sends the motor driver to walking-replacing tool.
Alternatively, described walking-replacing tool controls device, also includes: release unit, is used for receiving use
This eye control END instruction of person's input, and generate according to this eye control END instruction described be used for indicating described
Walking-replacing tool stops and closing the release instruction of described transmitting element.
Alternatively, the eye motion of described user includes: nictation and to the left, to the right, upwards, look down.
Alternatively, described walking-replacing tool controls device, also includes: communication module, for by described photographic head
The eyes image of shooting is sent to described graphics processing unit.
Embodiments of the invention also provide for a kind of walking-replacing tool system, including: described in walking-replacing tool and any one
Walking-replacing tool control device, described walking-replacing tool includes directional wheel, drives the driving of described directional wheel
Motor and control the motor driver of described driving motor；Described walking-replacing tool controls the action command of device
Outfan is connected with described motor driver.
Preferably, described directional wheel is Mecanum wheel.
Further, described walking-replacing tool system also includes: stop button, for receiving stopping by force of input
Only instruction；Security control plate, is connected with described stop button and described motor driver, for receiving
During described halt instruction by force, send the instruction closing described driving motor to described motor driver.Described
Stop button can be arranged on walking-replacing tool, such as on the handrail of wheelchair or backrest, it is also possible to be arranged on
The place of other convenient operation, the present embodiment does not limits.
Embodiments of the invention provide a kind of walking-replacing tool control method, including: the eye figure of shooting user
Picture；By image procossing, from the eyes image of shooting, identify the eye motion of user；According to identification
The described eye motion gone out generates the corresponding action command for controlling walking-replacing tool motion.
Alternatively, described by image procossing, the eye identifying user from the eyes image of shooting moves
After work, described eye motion that described basis identifies generates corresponding for controlling walking-replacing tool motion
Before action command, also include: receive this eye control sign on of user input, and the work that judges to ride instead of walk
Whether the current state of tool is in default action SBR, and when judged result is no, generation action
Preparation instruction, it is accurate that described action preparation instruction is used for indicating described walking-replacing tool to be adjusted to action from current state
Standby state, when walking-replacing tool is in described action SBR, is suitably executed corresponding the moving of described eye motion
Instruct.
Alternatively, described basis identifies described eye motion generates corresponding for controlling walking-replacing tool fortune
After dynamic action command, also include: the action whether prompting user performs described eye motion corresponding refers to
Order；After the confirmation receiving user input waiting performs instruction, described action command is sent to walking-replacing tool
Motor driver.
Alternatively, after the confirmation of described reception user performs instruction, described action command is sent to riding instead of walk
After the motor driver of instrument, also include: receive this eye control END instruction of user input, and root
Generate according to this control END instruction described and be used for indicating described walking-replacing tool to stop and stopping to described work of riding instead of walk
The release instruction of tool sending action instruction.
The present invention provides a kind of walking-replacing tool control method and controls device, walking-replacing tool system, described in ride instead of walk
Tools control includes: photographic head, graphics processing unit and control unit, is used by photographic head shooting
The eyes image of person, graphics processing unit receives the eyes image of photographic head shooting and therefrom identifies user
Eye motion, then generated according to the eye motion that identifies by control unit and corresponding riding instead of walk for controlling
The action command of movement of tool, can by eye motion control operation walking-replacing tool, it is not necessary to use lower limb, arm or
The action of the body parts such as hands, solves the existing walking-replacing tool problem for limbs inconvenience personage's operating difficulties.
Described walking-replacing tool can be wheelchair etc..
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to required in embodiment
The accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only the one of the present invention
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to these accompanying drawings.
Fig. 1 controls the structured flowchart of device for a kind of walking-replacing tool that the embodiment of the present invention one provides；
Fig. 2 is Glasses structure schematic diagram in the embodiment of the present invention one；
The walking-replacing tool that Fig. 3 provides for the first embodiment in the embodiment of the present invention one controls apparatus structure frame
Figure；
Fig. 4 is the eye motion schematic diagram during user look straight ahead shot in advance in the embodiment of the present invention one；
Fig. 5 is the default print that the user shot in advance in the embodiment of the present invention one eyes left；
The walking-replacing tool that Fig. 6 provides for the second embodiment in the embodiment of the present invention one controls apparatus structure frame
Figure；
The walking-replacing tool that Fig. 7 provides for the third embodiment in the embodiment of the present invention one controls apparatus structure frame
Figure；
The walking-replacing tool that Fig. 8 provides for the in the embodiment of the present invention one the 4th kind of embodiment controls apparatus structure frame
Figure；
The structured flowchart of the Fig. 9 a kind of walking-replacing tool system for providing in the embodiment of the present invention one；
The structural representation of the Figure 10 a kind of wheelchair system for providing in the embodiment of the present invention two；
The hardware connection diagram of the Figure 11 wheelchair system for providing in the embodiment of the present invention two；
The workflow diagram of the Figure 12 wheelchair system for providing in the embodiment of the present invention two；
When Figure 13 is that in the embodiment of the present invention two, wheelchair realizes main movement, each Mecanum wheel routing motion shows
It is intended to.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The all other embodiments obtained under property work premise, broadly fall into the scope of protection of the invention.
Embodiment one
Embodiments of the invention provide a kind of walking-replacing tool to control device, as it is shown in figure 1, this walking-replacing tool controls
Device includes: photographic head 11, for shooting the eyes image of user；Graphics processing unit 12, with shooting
11 are connected, and for receiving the eyes image of photographic head 11 shooting, and the eye therefrom identifying user moves
Make；Control unit 13, corresponding for controlling walking-replacing tool fortune for generating according to the eye motion that identifies
Dynamic action command.
The present embodiment provide walking-replacing tool control device, can preset some eye motion and set up eye move
Make and the corresponding relation that walking-replacing tool is operated storing, exemplarily, can be such as following table institute as a example by wheelchair
Show: the eye motion of user preset may include that nictation and to the left, to the right, upwards, look down,
Further, the wheelchair operation of correspondence of eyeing left is that wheelchair turns left, and the wheelchair operation of correspondence of eyeing right is that wheelchair is turned right,
The corresponding wheelchair that looks up advances, and looks down corresponding wheelchair rollback, once represents confirmation command, blinks continuously nictation
Eye represents that wheelchair stops for twice, represents for three times nictation continuously and starts to start this control operation etc..Can manage
Solving, the eye motion of user specifically includes which eye motion and eye motion and moves with wheelchair operation
The corresponding relation made is not specifically limited, and can be configured according to practical situation during practice.It addition,
Can preset before dispatching from the factory, it is also possible to carried out self-defined by user in use.Ride instead of walk described in the present embodiment work
Tool is not limited to wheelchair, it is also possible to be balance car, electric unicycle etc..
| Eye motion | Wheelchair operation |
| Eye left | Turn left |
| Eye right | Turn left |
| Look up | Advance |
| Look down | Retreat |
| Blink 1 time | Confirm |
| Blink 2 times | Stop |
| Blink 3 times | Start |
As a example by wheelchair, during above-mentioned control device specific works, photographic head 11 is used to shoot the eye of user
Image, the eyes image of photographic head 11 shooting is transferred to graphics processing unit 12 by the way of wired or wireless,
Graphics processing unit 12 therefrom identifies the eye motion of user by image procossing, then by control unit
13 eye motion preset by inquiry and the mapping table of wheelchair operation action, thus generated and make wheelchair produce
The action command of raw respective action.Such as, the eye motion of user is identified by image procossing for the left
See, then control unit 13 generates the action command that instruction wheelchair turns left the actuating unit passing to wheelchair, with
Realize the left-hand rotation operation of wheelchair.
The walking-replacing tool provided by the present embodiment controls device, it is possible to achieve controlled operation generation by eye motion
Step instrument, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing walking-replacing tool for limb
The problem of body inconvenience personage's operating difficulties.
Also can also include as in figure 2 it is shown, above-mentioned walking-replacing tool controls device: glasses, above-mentioned photographic head 11 collects
Become on glasses, be on the one hand easy to user and wear, on the other hand can also block user to walking-replacing tool
Eye motion during operation, it is to avoid cause other people curiosity and concern.A kind of preferred implementation such as Fig. 2 institute
Showing, be integrated on the eyeglass of glasses by photographic head 11, on glasses, the position on photographic head 11 side is integrated simultaneously
Communication module (such as bluetooth radio module 111) and power module (such as battery 131), power module is
Photographic head 11 and communication module provide electric power, the eyes image of photographic head 11 shooting to be sent to by communication module
Graphics processing unit 12.
As it is shown on figure 3, in the first embodiment of the present embodiment, above-mentioned graphics processing unit 12 includes:
Coordinate determines subelement 121, for utilizing the grey value difference between the white of the eye of human eye, iris and pupil, from
The eyes image of photographic head 11 shooting identifies pupil and determines pupil coordinate；Action determines subelement 122,
For pupil coordinate is carried out comparison one by one with the pupil coordinate in each default print, it is judged that pupil coordinate is with pre-
If whether the difference of the pupil coordinate in print is in preset range, if in preset range, it is determined that make
User is made that the eye motion in default print, default print are the eye motion of the user shot in advance
Image.
Identify pupil by image procossing and determine pupil coordinate, to those skilled in the art, one
As be easier realize, the most exemplarily only underdraw: the eye captured by step one, photographic head 11
Image is mainly the parts such as the white of the eye of human eye, iris, pupil, utilizes grey value difference between three, it is achieved
Pupil diameter.To this end, picture can be split first with maximum variance between clusters, it is achieved binaryzation,
Determine iris outward flange, subsequently, determine iris centre coordinate by Gray Projection method, finally utilize based on circle
Hough transformation and method of least square confirm pupil center location (determining pupil coordinate)；Step 2, general
The pupil coordinate that step one is determined carries out comparison one by one with the pupil coordinate in each default print, presets print
The eye motion image shot in advance for the user debugging stage when using first.
Such as, as shown in Figure 4, for shoot in advance user look straight ahead time eye motion, it is stipulated that now
Pupil coordinate is zero；Fig. 5 is the default print that the user shot in advance eyes left.When eyeball to the left
Rotating, when i.e. eyeing left, pupil is offset by center origin to the left relative to position, in like manner, when to the right, upper,
During lower rotation, also there is respective offsets in pupil position, and pupil color is relatively deep, can pass through in step one
The method of graphical analysis is recognized accurately pupil position in whole eyeball.Step one is determined by step 2
The pupil coordinate gone out and the comparison one by one of default print, if the pupil coordinate wherein step one determined and Fig. 5
Shown in eye left default print comparison time, the pupil coordinate that step one the is determined model shown in dotted line in Figure 5
In enclosing, i.e. think that the difference of pupil coordinate that step one determines and the pupil coordinate in default print is being preset
In the range of, then the eye motion of user is defined as eyeing left.
As shown in Figure 6, in the second embodiment of the present embodiment, described walking-replacing tool controls device, also
Including action preparatory unit 14, it is connected with graphics processing unit 12, for identifying at graphics processing unit 12
The eye motion of user and received this control sign on of user input by graphics processing unit 12
Afterwards, it is judged that whether the current state of walking-replacing tool is in default action SBR, and in judged result
For time no, generation action preparation instruction, described action preparation instruction is used for indicating described walking-replacing tool from currently
State is adjusted to action SBR, when walking-replacing tool is in action SBR, is suitably executed above-mentioned eye
The action command that action is corresponding.
Before walking-replacing tool is carried out the operational motion representated by eye motion, need to confirm the current of walking-replacing tool
State how, if is appropriate to this operational motion, if it is not, need existing by current for walking-replacing tool shape
State is adjusted, and is allowed to be in the action SBR that can carry out this operational motion safely, it is to avoid occur
Security incident.Action SBR pre-sets, different according to action command to be performed.Such as, with
As a example by wheelchair, if wheelchair is currently at the forward travel state of fair speed, operator is indicated by eye motion
Wheelchair turns left, and at this moment points out operator " whether this control starts？", person to be operated passes through eye motion (example
Such as nictation once) input this control sign on, shot by photographic head 11, graphics processing unit 12 figure
After processing, action preparatory unit 14 receives this control sign on of user input, it is judged that wheelchair
Current state speed too high, be not suitable for carrying out turning left (i.e. judging that wheelchair is not presently within action SBR),
Now generation action preparation instruction, action preparation instruction instruction wheelchair reduces speed or stop motion, for performing
Wheelchair left-hand rotation instruction representated by eye motion is prepared, it is to avoid high-speed left turn is accidents caused.Walking-replacing tool can
Real-time Feedback or record previous action executing result, it is thus achieved that the current state of walking-replacing tool, action preparatory unit
14, if it is determined that the current state of walking-replacing tool is appropriate to the action command corresponding to eye motion, at this moment may be used
Do not generate action preparation instruction, directly carry out next step operation.The current state of walking-replacing tool includes but does not limits
Angle etc. in the current each wheel of travel speed, direction of advance and walking-replacing tool of walking-replacing tool.
As it is shown in fig. 7, in the third embodiment of the present embodiment, on the basis of a upper embodiment also
Farther include: Tip element 15, for graphics processing unit 12 identify user eye motion it
After, whether prompting user performs the action command that eye motion is corresponding；Transmitting element 16, for receiving
After the confirmation of user performs instruction, action command is sent the motor driver to walking-replacing tool.Prompting is single
Unit 15 can use the prompting mode such as voice, picture, is pointed out by Tip element 15, transmitting element 16
After receiving the confirmation execution instruction of user, then the mode that action command is sent, it is achieved action command exists
All can recall before transmission, maloperation can be avoided, improve safety.
As shown in Figure 8, in the 4th kind of embodiment of the present embodiment, on the basis of a upper embodiment also
Farther include: release unit 17, for receiving this control END instruction of user input, and
Generate for indicating walking-replacing tool to stop and closing the action knot of transmitting element 16 according to this control END instruction
Shu Zhiling.After user inputs this control END instruction, release unit 17 indicates walking-replacing tool to stop
Stop and close transmitting element 16, being possible to prevent maloperation.
Above-mentioned this eye control sign on, confirmation execution instruction and this eye control END instruction all can be led to
The eyes image of photographic head shooting user, carries out image recognition through graphics processing unit and obtains.
The walking-replacing tool provided by the present embodiment controls device, it is possible to achieve controlled hand wheel by eye motion
The walking-replacing tools such as chair, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing walking-replacing tool
Problem for limbs inconvenience personage's operating difficulties；Safety is guaranteed simultaneously, and can prevent maloperation.
Embodiments of the invention also provide for a kind of walking-replacing tool system, and this walking-replacing tool system includes: work of riding instead of walk
Tool and walking-replacing tool described in any of the above-described item control device, walking-replacing tool as a example by wheelchair, as it is shown in figure 9,
Wheelchair 20 includes directional wheel 23, drives driving motor 22 and controlling to drive motor 22 of directional wheel 23
Motor driver 21；The action command outfan controlling device 10 is connected with motor driver 21, phase herein
Even control can communicate between device 10 and motor driver 21, including wired and wireless mode, the most wireless
Mode can be realized by wireless adapter.The walking-replacing tool systems such as the wheelchair that the present embodiment provides, Ke Yishi
Lose face portion's action control, it is not necessary to use the action of the body parts such as lower limb, arm or hands, solve existing wheelchair pair
Problem in limbs inconvenience personage's operating difficulties.
Further, above-mentioned walking-replacing tool may also include that stop button, for receiving the stopping by force of input
Instruction；Security control plate, is connected with stop button and motor driver 21, for stopping by force receiving
During instruction, send to motor driver 21 and close the instruction driving motor.Occupant is generally limbs not person who happens to be on hand for an errand
Scholar, is needed to stop walking-replacing tool if there is fortuitous event, is operated by eye motion slow, at this moment may be used
Carry out brake hard being pressed stop button by caregiver.
Embodiment two
Embodiments of the invention also provide for a kind of walking-replacing tool control method, including: step one, shooting use
The eyes image of person；Step 2, by image procossing, from the eyes image of shooting, identify user
Eye motion；Step 3, generate according to the described eye motion that identifies corresponding for controlling walking-replacing tool
The action command of motion.
The present embodiment provide walking-replacing tool control method, shoot eyes image, then by image procossing from
Image identifies the eye motion of user and converts the action command controlling walking-replacing tool motion, Ke Yishi
Now control to operate walking-replacing tool by eye motion, it is not necessary to use the action of the body parts such as lower limb, arm or hands,
Solve the existing wheelchair problem for limbs inconvenience personage's operating difficulties.
Further, before above-mentioned steps three, also include: this control receiving user input starts to refer to
Order, and after receiving this eye control sign on, it is judged that it is default whether the current state of walking-replacing tool is in
Action SBR, and when judged result is no, generation action preparation instruction, described action prepares to refer to
Order is used for indicating walking-replacing tool to be adjusted to action SBR from current state, and walking-replacing tool is in action and prepares
During state, it is suitably executed the action command that eye motion is corresponding.Action preparation instruction instruction walking-replacing tool reduces
Speed or stop motion, prepare for the walking-replacing tool left-hand rotation instruction performed representated by eye motion, it is to avoid high
Speed is turned left accidents caused.
After step 3, may also include that whether step 4, prompting user perform corresponding the moving of eye motion
Instruct；After the confirmation receiving user input waiting performs instruction, action command is sent to walking-replacing tool
Motor driver.After person to be used confirms, then action command is sent, before action command sends
Recall action command, maloperation can be avoided, improve safety.
The walking-replacing tool control method that the present embodiment provides also includes: step 5, the basis of reception user input
Secondary eye control END instruction, and be used for indicating walking-replacing tool to stop also according to this eye control END instruction described generation
Stop the release instruction to the instruction of walking-replacing tool sending action.
In order to those skilled in the art are better understood from walking-replacing tool and the controlling party thereof that the embodiment of the present invention provides
Method, the scheme provided the present invention below by specific embodiment is described in detail.
As shown in Figure 10 and Figure 11, the embodiment of the present invention provides a kind of wheelchair system, and wheelchair system is by glasses 18
Form with wheelchair, glasses are integrated with photographic head 11 and bluetooth radio module 111 and battery 131, can clap in real time
Taking the photograph and send eyes image, wheelchair includes seat 24, is arranged on the directional wheel 23 bottom seat 24 (general
It is four) and wheel hub motor 221, motor driver 21, the processor 19 also including being arranged on seat 24,
Memorizer (not shown) and bluetooth radio module 111-2, voice cue module 151, power module and
Air switch etc..Wheelchair can real-time reception eyes image identify eye motion by image analysis algorithm,
Simultaneous processor 19 sends corresponding instruction according to eye motion, controls directional wheel 23 and rotates adjustment direction, with
And control the forward and backward movement of wheelchair and other action.It will be appreciated by persons skilled in the art that processor
19 software programs set by execution, it is possible to achieve graphics processing unit 12, control list in embodiment one
Unit 13, action preparatory unit 14 and the function of release unit 17, and the part of transmitting element part 16
Function.
Exemplarily, the present embodiment eye control wheelchair is according to the corresponding relation such as enforcement of eye motion and wheelchair operation
In example one shown in table 1, table, eyes to left and right, upper and lower see that respectively corresponding wheelchair left, right, front and rear are moved
Dynamic, blink 1,2,3 times respectively to should determine that, stopping, starting, support self-defined setting.
So, as shown in figure 12, the present embodiment wheelchair system operation principle is as follows: user wears to be integrated with and takes the photograph
As the glasses of 11, after startup, photographic head 11 is with the speed (this speed can be manually set) of 10 times per second
Captured in real-time eyes image, and the processor 19 on wheelchair is sent images to by bluetooth wireless mode, place
Reason device 19 real time processed images also identifies eye motion.Before user controls wheelchair, need continuously nictation 3 times with
Obtain control authority.When user rotates eyes to the left or to the right or upwards or when looking down 1 time, system
Move recognition result in conjunction with eye and operate corresponding table, be given the most to the left with voice mode or to the right or forward,
Or the prompting being moved rearwards by, user blinks once again, confirms, then wheelchair starts to perform to identify eye
The operation that action is corresponding.Last up to user when needing to stop, can this terminating wheelchair for twice nictation continuously
Control process.
It should be noted that for same action command, action that each directional wheel 23 is last also differs.
The preferred Mecanum wheel of directional wheel 23 (Mecanum wheel) in the present embodiment.Mecanum wheel, again
Claiming universal wheel, this takes turns on the basis of conventional wheel, again along (generally 45 °) at an angle with axle on wheel rim
Directional spreding many rotatable little rollers (i.e. running roller), so rolls at wheel (i.e. centre wheel)
Time, little roller will produce lateral movement, by cooperating of the 4 of wheelchair Mecanum wheels so that be
The all-around mobile that is capable of in plane of system, in addition this system taking turns composition have bearing capacity strong,
Simple for structure, motor control flexibly, by advantages such as property are good, be suitable on wheelchair installation.
As shown in figure 13, as a example by Mecanum wheel, it is shown that the wheelchair being equipped with Mecanum wheel realizes main shifting
Time dynamic, each situation taking turns routing motion: during advance, each wheel (four Mecanum wheels of wheelchair) is the most forward
Rotate；During retrogressing, each wheel all rotates backward；During right lateral, front revolver and rear right wheel rotate forward, simultaneously before
Right wheel and rear revolver rotate backward；During left lateral, front revolver and rear right wheel rotate backward, simultaneously front right wheel and after
Revolver rotates forward；When rotating clockwise, front revolver and rear revolver forwards move, front right wheel and rear right simultaneously
Wheel rotates backward；When rotating counterclockwise, front revolver and rear revolver rotate backward, simultaneously front right wheel and rear right wheel
Rotate forward；When advancing to right front, front revolver and rear right wheel rotate forward, simultaneously front right wheel and rear revolver
Do not rotate；When advancing to left front, front right wheel and rear revolver forwards move, and the most front revolver and rear right wheel are not
Rotate.Above-mentioned each wheel forward, the situation of rotating backward refer both to the centre wheel rotation direction of corresponding Mecanum wheel.
The running roller of Mecanum wheel can rotate by the most independent carrying out, when Mecanum wheel rotates, and sum velocity
For being perpendicular to roller direction, and can be broken down into advancing, walking crosswise both direction.With right lateral motion it is below
Example is simply introduced, and in Figure 13 right lateral figure, the direction of arrow on wheel side represents each Mecanum round respectively
Dynamic direction (the more specifically centre wheel rotation direction of Mecanum wheel), takes turns by advancing and walking crosswise two sides each
Resolution of velocity is done, it is found that the speed of direction of advance is cancelled, only surplus horizontal (right side) based on to
Speed, therefore, this car body can realize motion to the right.This is the common knowledge of this area, the most further
One describes in detail.
The wheelchair that the present embodiment provides is by monitoring and identifies eye motion (including that nictation and eyeball move), real
The now control to wheelchair；Wheelchair have employed directional wheel, by specific eyeball action, takes turns it by each
Between motion coordinate, it is achieved wheelchair is in the case of radius of turn is zero, it is achieved the control to wheel chair sport direction
System, concrete control principle is: the sample (i.e. presetting print) utilizing shooting to set up is transported with the real-time eye of user
Moving and compare, changed by contrast center coordinate of eye pupil, whether voice message user can take this action, uses
After family confirms, then sent instruction by processor, via motor driver, control each motor movement respectively, from
And control each directional wheel and cooperate, it is achieved the motion action corresponding to eye motion.In the present embodiment,
Eyeball left and right, rotate up and down and can the left, right, front and rear of corresponding wheelchair respectively move, simultaneously for keeping away
Exempt from the interference that eyeball is not intended to rotate, confirm the validity action also by nictation.
In embodiments of the present invention, the sequence number of each step can not be used for limiting the sequencing of each step, right
Priority from the point of view of those of ordinary skill in the art, on the premise of not paying creative work, to each step
Change is also within protection scope of the present invention.
Each embodiment in this specification all uses the mode gone forward one by one to describe, phase homophase between each embodiment
As part see mutually, what each embodiment stressed is the difference with other embodiments.
For apparatus embodiments, owing to it is substantially similar to embodiment of the method, so describing to compare
Simply, relevant part sees the part of embodiment of the method and illustrates.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method,
Can be by computer program and complete to instruct relevant hardware, described program can be stored in a calculating
In machine read/write memory medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.
Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory,
Or random store-memory body (Random Access Memory, RAM) etc. ROM).
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art, in the technical scope that the invention discloses, can readily occur in
Change or replacement, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention
Should be as the criterion with scope of the claims.
Claims (16)
1. a walking-replacing tool controls device, it is characterised in that including:
Photographic head, for shooting the eyes image of user；
Graphics processing unit, is connected with described photographic head, for receiving the eyes image of described photographic head shooting,
And therefrom identify the eye motion of user；
Control unit, is connected with described graphics processing unit, for raw according to the described eye motion identified
Become the corresponding action command for controlling walking-replacing tool motion.
Walking-replacing tool the most according to claim 1 controls device, it is characterised in that also include: glasses,
Described photographic head is integrated on described glasses.
Walking-replacing tool the most according to claim 2 controls device, it is characterised in that described photographic head collection
Become on the eyeglass of described glasses.
Walking-replacing tool the most according to claim 1 controls device, it is characterised in that described image procossing
Unit includes:
Coordinate determines subelement, for utilizing the grey value difference between the white of the eye of human eye, iris and pupil,
From the eyes image that described photographic head shoots, identify pupil and determine pupil coordinate；
Action determines subelement, for described pupil coordinate is carried out one with the pupil coordinate in each default print
One comparison, it is judged that whether the difference of the pupil coordinate in described pupil coordinate and described default print is at default model
In enclosing, if in preset range, it is determined that user is made that the eye motion in default print, described
Default print is the eye motion image of the user shot in advance.
5. control device according to the walking-replacing tool described in any one of claim 1-4, it is characterised in that also include:
Action preparatory unit, is connected with described graphics processing unit, in described graphics processing unit identification
Go out the eye motion of user, and opened by this control of described graphics processing unit reception user input
After beginning to instruct, it is judged that whether the current state of walking-replacing tool is in default action SBR, and is sentencing
When disconnected result is no, generation action preparation instruction, described action preparation instruction is used for indicating described walking-replacing tool
It is adjusted to action SBR from current state, when walking-replacing tool is in described action SBR, is suitable for holding
The action command that the described eye motion of row is corresponding.
6. control device according to the walking-replacing tool described in any one of claim 1-4, it is characterised in that also include:
Tip element, for after described graphics processing unit identifies the eye motion of user, points out
Whether user performs the action command that described eye motion is corresponding；
Transmitting element, after performing instruction in the confirmation receiving user, sends described action command extremely
The motor driver of walking-replacing tool.
Walking-replacing tool the most according to claim 6 controls device, it is characterised in that also include:
Release unit, for receiving this control END instruction of user input, and according to described
Secondary eye control END instruction generates for indicating described walking-replacing tool to stop and closing the action knot of described transmitting element
Shu Zhiling.
Walking-replacing tool the most according to claim 1 controls device, it is characterised in that described user
Eye motion includes: nictation and to the left, to the right, upwards, look down.
Walking-replacing tool the most according to claim 1 controls device, it is characterised in that also include: communication
Module, for being sent to described graphics processing unit by the eyes image that described photographic head shoots.
10. a walking-replacing tool system, it is characterised in that including: walking-replacing tool and claim 1-9 are arbitrary
Walking-replacing tool described in Xiang controls device, and described walking-replacing tool includes directional wheel, drives described directional wheel
Drive motor and control the motor driver of described driving motor；
Described walking-replacing tool controls the action command outfan of device and is connected with described motor driver.
11. walking-replacing tool systems according to claim 10, it is characterised in that described directional wheel is
Mecanum wheel.
12. according to the walking-replacing tool system described in claim 10 or 11, it is characterised in that also include:
Stop button, for receiving the halt instruction by force of input；
Security control plate, is connected with described stop button and described motor driver, for receive described
By force during halt instruction, send the instruction closing described driving motor to described motor driver.
13. 1 kinds of walking-replacing tool control methods, it is characterised in that including:
The eyes image of shooting user；
By image procossing, from the eyes image of shooting, identify the eye motion of user；
Generate the corresponding action moved for controlling walking-replacing tool according to the described eye motion identified to refer to
Order.
14. control methods according to claim 13, it is characterised in that described by image procossing,
After identifying the eye motion of user from the eyes image of shooting, the described eye that described basis identifies
Before portion's action generates the corresponding action command being used for controlling walking-replacing tool motion, also include:
Receive this eye control sign on of user input, and receive this eye control sign on described it
After, it is judged that whether the current state of walking-replacing tool is in default action SBR, and in judged result is
Time no, generation action preparation instruction, described action preparation instruction is used for indicating described walking-replacing tool from current shape
State is adjusted to action SBR, when walking-replacing tool is in described action SBR, is suitably executed described eye
The action command that portion's action is corresponding.
15. according to the control method described in claim 13 or 14, it is characterised in that described basis identifies
Described eye motion generate corresponding after controlling the action command of walking-replacing tool motion, also include:
Whether prompting user performs the action command that described eye motion is corresponding；
After the confirmation receiving user input waiting performs instruction, described action command is sent to walking-replacing tool
Motor driver.
16. control methods according to claim 15, it is characterised in that described reception user is really
After recognizing execution instruction, described action command is sent after the motor driver of walking-replacing tool, also includes:
Receive this eye control END instruction of user input, and generate according to this eye control END instruction described
Refer to for indicating described walking-replacing tool to stop and stopping to the release of described walking-replacing tool sending action instruction
Order.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610398690.XA CN105892691A (en) | 2016-06-07 | 2016-06-07 | Method and device for controlling travel tool and travel tool system |
| JP2017550131A JP2019530479A (en) | 2016-06-07 | 2017-04-05 | Mobility aid control method, apparatus and system |
| US15/563,081 US20190083335A1 (en) | 2016-06-07 | 2017-04-05 | Travel tool control method, device and system |
| PCT/CN2017/079448 WO2017211114A1 (en) | 2016-06-07 | 2017-04-05 | Travel tool control method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610398690.XA CN105892691A (en) | 2016-06-07 | 2016-06-07 | Method and device for controlling travel tool and travel tool system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105892691A true CN105892691A (en) | 2016-08-24 |
Family
ID=56711579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610398690.XA Pending CN105892691A (en) | 2016-06-07 | 2016-06-07 | Method and device for controlling travel tool and travel tool system |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20190083335A1 (en) |
| JP (1) | JP2019530479A (en) |
| CN (1) | CN105892691A (en) |
| WO (1) | WO2017211114A1 (en) |
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| CN106774841A (en) * | 2016-11-23 | 2017-05-31 | 上海擎感智能科技有限公司 | Intelligent glasses and its awakening method, Rouser |
| CN107007407A (en) * | 2017-04-12 | 2017-08-04 | 华南理工大学 | Wheelchair control system based on eye electricity |
| WO2017211114A1 (en) * | 2016-06-07 | 2017-12-14 | Boe Technology Group Co., Ltd. | Travel tool control method, device and system |
| CN108189787A (en) * | 2017-12-12 | 2018-06-22 | 北京汽车集团有限公司 | Control method and apparatus, storage medium and the vehicle of seat |
| CN108652851A (en) * | 2018-01-19 | 2018-10-16 | 西安电子科技大学 | The eye control wheelchair control method of view-based access control model location technology |
| CN113520740A (en) * | 2020-04-13 | 2021-10-22 | 广东博方众济医疗科技有限公司 | Wheelchair bed control method and device, electronic equipment and storage medium |
| WO2022076745A1 (en) * | 2020-10-07 | 2022-04-14 | Beavers Jay Curtis | Systems, methods, and techniques for eye gaze control of seat and bed positioning |
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| CN112513886B (en) * | 2018-08-03 | 2024-03-22 | 索尼公司 | Information processing method, information processing apparatus, and information processing program |
| JP7293039B2 (en) * | 2019-08-16 | 2023-06-19 | キヤノン株式会社 | Imaging device and its control method |
| US10860098B1 (en) | 2019-12-30 | 2020-12-08 | Hulu, LLC | Gesture-based eye tracking |
| JP2022171084A (en) * | 2021-04-30 | 2022-11-11 | キヤノン株式会社 | Imaging device, control method of the same and program |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017211114A1 (en) | 2017-12-14 |
| JP2019530479A (en) | 2019-10-24 |
| US20190083335A1 (en) | 2019-03-21 |
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